Teleoperation over IP Network: Virtual PUMA Robot

Philippe Fraisse 1 C. Agniel David Andreu 2 Jose Armando Segovia de Los Rios 3
1 DEMAR - Artificial movement and gait restoration
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : We propose in this paper a stable remote position/force control scheme for manipulator robot via Internet based on Smith Predictor principle. In order to validate in real network situation our control method, we developed a real time Virtual Puma Robot based on RTLinux Operating System. This Virtual Robot contains a real time task which computes the differential non linear equation of the PUMA Robot including a virtual environment in order to perform a force control loop. Some interesting experimental results in the case of long distance (Mexico-France : ~7000 km) show the real improvement obtained with this method under some important mean time delay (~200ms). This addition enhances and secures the teleoperation through the Internet. The Virtual PUMA Robot server will be reachable on Internet and available for the conference to perform some real-time teleoperation experimentations via a Java HMI. Closing a loop through an IP network open some news application field such that a cooperated control for robotics systems via Internet.
Type de document :
Communication dans un congrès
ICIT: International Conference on Industrial Technology, Dec 2003, Maribor, Slovenia. IEEE, pp.669-674, 2003
Liste complète des métadonnées

Littérature citée [8 références]  Voir  Masquer  Télécharger

https://hal-lirmm.ccsd.cnrs.fr/lirmm-00269447
Contributeur : Christine Carvalho de Matos <>
Soumis le : jeudi 3 avril 2008 - 08:12:02
Dernière modification le : jeudi 24 mai 2018 - 15:59:23
Document(s) archivé(s) le : vendredi 21 mai 2010 - 01:13:22

Fichier

D121.PDF
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : lirmm-00269447, version 1

Collections

Citation

Philippe Fraisse, C. Agniel, David Andreu, Jose Armando Segovia de Los Rios. Teleoperation over IP Network: Virtual PUMA Robot. ICIT: International Conference on Industrial Technology, Dec 2003, Maribor, Slovenia. IEEE, pp.669-674, 2003. 〈lirmm-00269447〉

Partager

Métriques

Consultations de la notice

248

Téléchargements de fichiers

251